Automatic pallet loading/unloading method for radioactive waste drums of nuclear waste inspection procedure

Abstract

An automatic pallet loading/unloading method for radioactive waste drums is disclosed, which comprises the steps of: (a) providing a conveying pallet accommodating six radioactive waste drums; (b) arranging the pallet on a specific importing carrier; (c) performing a two-dimensional fetching position adjustment upon the pallet by the importing carrier; and (d) using a grabber crane to grab and carry the radioactive waste drums in a specific order so as to apply an continuous inspection process upon each radioactive waste drum successively. In a preferred aspect, the two-dimensional fetching position adjustment uses a transverse positioning operation cooperating with a lengthwise positioning operation to successively place each radioactive waste drum in a specific position to be grabbed by the grabber crane and thus to be inspected by the inspection process. In addition, an exporting carrier with two-dimensional position adjustment ability similar to that of the importing carrier is provided for receiving those radioactive waste drums after each has completed the inspection process, whereas an empty pallet placed on the carrier is moved with respect to the two-dimensional position adjustment of the exporting carrier so as to enable the radioactive waste drums after being inspected to set on the pallet in order appropriately. By the method of the invention, an automatic inspection process for radioactive waste drums can be achieved so as to prevent operators from getting radiation damage due to the exposure in radiation environment while operating inspection.

1. An automatic pallet loading/unloading method for radioactive waste drums of nuclear waste inspection procedure, comprising steps of:
 (a) providing a conveying pallet accommodating at least six radioactive waste drums; 
 (b) arranging the pallet on a specific importing carrier while arranging at least three parking positions in a successive order on a lengthwise side of the importing carrier; 
 (c) utilizing a supporting deck equipped with a transportation device to drive the pallet thereon enabling the importing carrier to perform a two-dimensional fetching position adjustment upon the pallet; and 
 (d) using a grabber crane to grab and carry the radioactive waste drums in a specific order so as to apply an inspection process upon each radioactive waste drum successively. 
 
   
   
     2. The method of  claim 1 , wherein the two-dimensional fetching position adjustment further comprises steps of:
 (c1) enabling the importing carrier to perform a transverse positioning operation upon the pallet; and 
 (c2) enabling the importing carrier to perform a lengthwise positioning operation upon the pallet. 
 
   
   
     3. The method of  claim 2 , wherein the lengthwise positioning operation further comprises steps of:
 (c21) enabling the importing carrier to move the pallet following the lengthwise direction of the importing carrier; 
 (c22) enabling the importing carrier to stop moving the pallet as soon as the pallet reaches one of the plural parking positions; and 
 (c23) making an evaluation to determine whether there is still any radioactive waste drums presented at the location of the pallet corresponding to the reached parking position; if so the step (d) is initiated; otherwise, repeating the step (c21) to step (c23). 
 
   
   
     4. The method of  claim 1 , further comprising a step of:
 (e) enabling the importing carrier to move the pallet to an initial location while no radioactive waste drum exists on the pallet. 
 
   
   
     5. The method of  claim 1 , wherein the inspection process further comprises steps of:
 (d1) performing an appearance inspection upon the fetched radioactive waste drum; 
 (d2) performing a surface contaminant detection upon the fetched radioactive waste drum; 
 (d3) measuring the radioactivity and nuclide of the fetched radioactive waste drum; and (d4) marking the fetched radioactive waste drum. 
 
   
   
     6. The method of  claim 1 , further comprising steps of:
 (f) providing an empty conveying pallet capable of accommodating at least six radioactive waste drums to be arranged on an exporting carrier, while arranging at least three parking positions in a successive order on a lengthwise side of the exporting carrier; (g) enabling the exporting carrier to perform a placing position adjustment upon the pallet; and 
 (h) using a grabber crane to grab and carry the radioactive waste drum passing the inspection process for placing the inspected radioactive waste drum on the pallet. 
 
   
   
     7. The method of  claim 6 , wherein the placing position adjustment further comprises steps of:
 (g1) enabling the exporting carrier to perform a transverse positioning operation upon the pallet; and 
 (g2) enabling the exporting carrier to move the pallet following the lengthwise direction of the exporting carrier. 
 
   
   
     8. The method of  claim 7 , wherein the lengthwise positioning operation further comprises steps of:
 (g21) enabling the exporting carrier to move the pallet following the lengthwise direction of the exporting carrier; 
 (g22) enabling the exporting carrier to stop moving the pallet as soon as the pallet reaches one of the plural parking positions; and 
 (g23) making an evaluation to determine whether there is still empty space available for accommodating inspected radioactive waste drums at the location of the pallet corresponding to the reached parking position; if so the step (h) is initiated; otherwise, repeating the step (g21) to step (g23). 
 
   
   
     9. The method of  claim 6 , further comprising a step of:
 (i) enabling the exporting carrier to move the pallet to a storage location while the pallet is filled with inspected radioactive waste drums. 
 
   
   
     10. An automatic pallet loading/unloading method for radioactive waste drums of nuclear waste inspection procedure, comprising steps of:
 (a′) providing an empty conveying pallet capable of accommodating at least six radioactive waste drums to be arranged on an exporting carrier, while arranging at least three parking positions in a successive order on a lengthwise side of the exporting carrier; 
 (b′) utilizing a supporting deck equipped with a transportation device to drive the pallet thereon enabling the exporting carrier to perform a two-dimensional placing position adjustment upon the pallet; and 
 (c′) using a grabber crane to grab and carry the radioactive waste drum passing an inspection process for placing the inspected radioactive waste drum on the pallet. 
 
   
   
     11. The method of  claim 10 , wherein the two-dimensional placing position adjustment further comprises steps of:
 (b1′) enabling the exporting carrier to perform a transverse positioning operation upon the pallet; and 
 (b2′) enabling the exporting carrier to perform a lengthwise positioning operation upon the pallet. 
 
   
   
     12. The method of  claim 11 , wherein the lengthwise positioning operation further comprises steps of:
 (b21′) enabling the exporting carrier to move the pallet following the lengthwise direction of the exporting carrier; 
 (b22′) enabling the exporting carrier to stop moving the pallet as soon as the pallet reaches one of the plural parking positions; and 
 (b23′) making an evaluation to determine whether there is still empty space available for accommodating inspected radioactive waste drums at the location of the pallet corresponding to the reached parking position; if so the step (c′) is initiated; otherwise, repeating the step (b21′) to step (b23′). 
 
   
   
     13. The method of  claim 10 , further comprising a step of:
 (d′) enabling the exporting carrier to move the pallet to a storage location while the pallet is filled with inspected radioactive waste drums.